Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases

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Linear algebra and its applications

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E. R. Westervelt, Jessy W. Grizzle, Daniel E. Koditschek · IEEE Transactions on Automatic Control · 2003 · 861 citations · Full text

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Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point

Ambarish Goswami · The International Journal of Robotics Research · 1999 · 568 citations

Engineering, Mechanical Engineering, Robotics Engineering +17